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<a href="#nested-classes">类</a> &#124;
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<div class="title">pcl::gpu::kinfuLS::TsdfVolume类 参考</div>  </div>
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<p><a class="el" href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_tsdf_volume.html" title="TsdfVolume class">TsdfVolume</a> class  
 <a href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_tsdf_volume.html#details">更多...</a></p>

<p><code>#include &lt;<a class="el" href="large__scale_2include_2pcl_2gpu_2kinfu__large__scale_2tsdf__volume_8h_source.html">tsdf_volume.h</a>&gt;</code></p>
<table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="nested-classes"></a>
类</h2></td></tr>
<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">struct &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structpcl_1_1gpu_1_1kinfu_l_s_1_1_tsdf_volume_1_1_header.html">Header</a></td></tr>
<tr class="memdesc:"><td class="mdescLeft">&#160;</td><td class="mdescRight">Structure storing voxel grid resolution, volume size (in mm) and element_size of data stored on host  <a href="structpcl_1_1gpu_1_1kinfu_l_s_1_1_tsdf_volume_1_1_header.html#details">更多...</a><br /></td></tr>
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Public 类型</h2></td></tr>
<tr class="memitem:adbcf4c0539afe4ed500ec8e08ae49369"><td class="memItemLeft" align="right" valign="top"><a id="adbcf4c0539afe4ed500ec8e08ae49369"></a>enum &#160;</td><td class="memItemRight" valign="bottom">{ <b>DEFAULT_CLOUD_BUFFER_SIZE</b> = 10 * 1000 * 1000
 }</td></tr>
<tr class="memdesc:adbcf4c0539afe4ed500ec8e08ae49369"><td class="mdescLeft">&#160;</td><td class="mdescRight">Default buffer size for fetching cloud. It limits max number of points that can be extracted <br /></td></tr>
<tr class="separator:adbcf4c0539afe4ed500ec8e08ae49369"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:af913997f25a0ff32af3d2cf91ae22485"><td class="memItemLeft" align="right" valign="top"><a id="af913997f25a0ff32af3d2cf91ae22485"></a>
typedef boost::shared_ptr&lt; <a class="el" href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_tsdf_volume.html">TsdfVolume</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>Ptr</b></td></tr>
<tr class="separator:af913997f25a0ff32af3d2cf91ae22485"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a859e9c389e10be47ba94d785eeae975f"><td class="memItemLeft" align="right" valign="top"><a id="a859e9c389e10be47ba94d785eeae975f"></a>
typedef <a class="el" href="structpcl_1_1_point_x_y_z.html">PointXYZ</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_tsdf_volume.html#a859e9c389e10be47ba94d785eeae975f">PointType</a></td></tr>
<tr class="memdesc:a859e9c389e10be47ba94d785eeae975f"><td class="mdescLeft">&#160;</td><td class="mdescRight">Supported Point Types <br /></td></tr>
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typedef <a class="el" href="structpcl_1_1_normal.html">Normal</a>&#160;</td><td class="memItemRight" valign="bottom"><b>NormalType</b></td></tr>
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Public 成员函数</h2></td></tr>
<tr class="memitem:aa2a91af07bc4694381b6de8676fee478"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_tsdf_volume.html#aa2a91af07bc4694381b6de8676fee478">TsdfVolume</a> (const Eigen::Vector3i &amp;resolution)</td></tr>
<tr class="memdesc:aa2a91af07bc4694381b6de8676fee478"><td class="mdescLeft">&#160;</td><td class="mdescRight">Constructor  <a href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_tsdf_volume.html#aa2a91af07bc4694381b6de8676fee478">更多...</a><br /></td></tr>
<tr class="separator:aa2a91af07bc4694381b6de8676fee478"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a5a8d6e605ffdbcfc9228679604cab033"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_tsdf_volume.html#a5a8d6e605ffdbcfc9228679604cab033">setSize</a> (const Eigen::Vector3f &amp;<a class="el" href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_tsdf_volume.html#a025f883e6c30096fffa6df505acd5a86">size</a>)</td></tr>
<tr class="memdesc:a5a8d6e605ffdbcfc9228679604cab033"><td class="mdescLeft">&#160;</td><td class="mdescRight">Sets Tsdf volume size for each dimention  <a href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_tsdf_volume.html#a5a8d6e605ffdbcfc9228679604cab033">更多...</a><br /></td></tr>
<tr class="separator:a5a8d6e605ffdbcfc9228679604cab033"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ab837c09a09bab3ecb69da7c2acb0d481"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_tsdf_volume.html#ab837c09a09bab3ecb69da7c2acb0d481">setTsdfTruncDist</a> (float distance)</td></tr>
<tr class="memdesc:ab837c09a09bab3ecb69da7c2acb0d481"><td class="mdescLeft">&#160;</td><td class="mdescRight">Sets Tsdf truncation distance. Must be greater than 2 * volume_voxel_size  <a href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_tsdf_volume.html#ab837c09a09bab3ecb69da7c2acb0d481">更多...</a><br /></td></tr>
<tr class="separator:ab837c09a09bab3ecb69da7c2acb0d481"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a722b992a0d24ac598c8721d34f25f895"><td class="memItemLeft" align="right" valign="top"><a id="a722b992a0d24ac598c8721d34f25f895"></a>
<a class="el" href="classpcl_1_1gpu_1_1_device_array2_d.html">DeviceArray2D</a>&lt; int &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_tsdf_volume.html#a722b992a0d24ac598c8721d34f25f895">data</a> () const</td></tr>
<tr class="memdesc:a722b992a0d24ac598c8721d34f25f895"><td class="mdescLeft">&#160;</td><td class="mdescRight">Returns tsdf volume container that point to data in GPU memroy <br /></td></tr>
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<tr class="memitem:a0d3d6e74685957748835c83547fc2cad"><td class="memItemLeft" align="right" valign="top"><a id="a0d3d6e74685957748835c83547fc2cad"></a>
const Eigen::Vector3f &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_tsdf_volume.html#a0d3d6e74685957748835c83547fc2cad">getSize</a> () const</td></tr>
<tr class="memdesc:a0d3d6e74685957748835c83547fc2cad"><td class="mdescLeft">&#160;</td><td class="mdescRight">Returns volume size in meters <br /></td></tr>
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<tr class="memitem:acaee76b8eab6f7c49ebecac910a4243a"><td class="memItemLeft" align="right" valign="top"><a id="acaee76b8eab6f7c49ebecac910a4243a"></a>
const Eigen::Vector3i &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_tsdf_volume.html#acaee76b8eab6f7c49ebecac910a4243a">getResolution</a> () const</td></tr>
<tr class="memdesc:acaee76b8eab6f7c49ebecac910a4243a"><td class="mdescLeft">&#160;</td><td class="mdescRight">Returns volume resolution <br /></td></tr>
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<tr class="memitem:acf4322c3864ddac7038cbcc29a477df3"><td class="memItemLeft" align="right" valign="top"><a id="acf4322c3864ddac7038cbcc29a477df3"></a>
const Eigen::Vector3f&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_tsdf_volume.html#acf4322c3864ddac7038cbcc29a477df3">getVoxelSize</a> () const</td></tr>
<tr class="memdesc:acf4322c3864ddac7038cbcc29a477df3"><td class="mdescLeft">&#160;</td><td class="mdescRight">Returns volume voxel size in meters <br /></td></tr>
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<tr class="memitem:af03d21b79c89d4b6f18295ce49f8fb14"><td class="memItemLeft" align="right" valign="top"><a id="af03d21b79c89d4b6f18295ce49f8fb14"></a>
float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_tsdf_volume.html#af03d21b79c89d4b6f18295ce49f8fb14">getTsdfTruncDist</a> () const</td></tr>
<tr class="memdesc:af03d21b79c89d4b6f18295ce49f8fb14"><td class="mdescLeft">&#160;</td><td class="mdescRight">Returns tsdf truncation distance in meters <br /></td></tr>
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<tr class="memitem:aabc12a6af5ac60742c13f4c63e0546f6"><td class="memItemLeft" align="right" valign="top"><a id="aabc12a6af5ac60742c13f4c63e0546f6"></a>
void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_tsdf_volume.html#aabc12a6af5ac60742c13f4c63e0546f6">reset</a> ()</td></tr>
<tr class="memdesc:aabc12a6af5ac60742c13f4c63e0546f6"><td class="mdescLeft">&#160;</td><td class="mdescRight">Resets tsdf volume data to uninitialized state <br /></td></tr>
<tr class="separator:aabc12a6af5ac60742c13f4c63e0546f6"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a88a992bc7d5284b9b9532f9cad00c75f"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_tsdf_volume.html#a88a992bc7d5284b9b9532f9cad00c75f">fetchCloudHost</a> (<a class="el" href="classpcl_1_1_point_cloud.html">PointCloud</a>&lt; <a class="el" href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_tsdf_volume.html#a859e9c389e10be47ba94d785eeae975f">PointType</a> &gt; &amp;cloud, bool connected26=false) const</td></tr>
<tr class="memdesc:a88a992bc7d5284b9b9532f9cad00c75f"><td class="mdescLeft">&#160;</td><td class="mdescRight">Generates cloud using CPU (downloads volumetric representation to CPU memory)  <a href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_tsdf_volume.html#a88a992bc7d5284b9b9532f9cad00c75f">更多...</a><br /></td></tr>
<tr class="separator:a88a992bc7d5284b9b9532f9cad00c75f"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a919b00e9381e3527a0cb50ab304d9348"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_tsdf_volume.html#a919b00e9381e3527a0cb50ab304d9348">fetchCloudHost</a> (<a class="el" href="classpcl_1_1_point_cloud.html">PointCloud</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_i.html">PointXYZI</a> &gt; &amp;cloud, bool connected26=false) const</td></tr>
<tr class="memdesc:a919b00e9381e3527a0cb50ab304d9348"><td class="mdescLeft">&#160;</td><td class="mdescRight">Generates cloud using CPU (downloads volumetric representation to CPU memory)  <a href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_tsdf_volume.html#a919b00e9381e3527a0cb50ab304d9348">更多...</a><br /></td></tr>
<tr class="separator:a919b00e9381e3527a0cb50ab304d9348"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a4a1ac38b3b6819ded1c3a8e63677d240"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classpcl_1_1gpu_1_1_device_array.html">DeviceArray</a>&lt; <a class="el" href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_tsdf_volume.html#a859e9c389e10be47ba94d785eeae975f">PointType</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_tsdf_volume.html#a4a1ac38b3b6819ded1c3a8e63677d240">fetchCloud</a> (<a class="el" href="classpcl_1_1gpu_1_1_device_array.html">DeviceArray</a>&lt; <a class="el" href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_tsdf_volume.html#a859e9c389e10be47ba94d785eeae975f">PointType</a> &gt; &amp;cloud_buffer) const</td></tr>
<tr class="memdesc:a4a1ac38b3b6819ded1c3a8e63677d240"><td class="mdescLeft">&#160;</td><td class="mdescRight">Generates cloud using GPU in connected6 mode only  <a href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_tsdf_volume.html#a4a1ac38b3b6819ded1c3a8e63677d240">更多...</a><br /></td></tr>
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<tr class="memitem:a572f56b7188a33899b79a31d657c4c22"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_tsdf_volume.html#a572f56b7188a33899b79a31d657c4c22">pushSlice</a> (const <a class="el" href="classpcl_1_1_point_cloud.html">PointCloud</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_i.html">PointXYZI</a> &gt;::Ptr existing_data_cloud, const <a class="el" href="structpcl_1_1gpu_1_1kinfu_l_s_1_1tsdf__buffer.html">tsdf_buffer</a> *buffer) const</td></tr>
<tr class="memdesc:a572f56b7188a33899b79a31d657c4c22"><td class="mdescLeft">&#160;</td><td class="mdescRight">Push a point cloud of previously scanned tsdf slice to the TSDF volume  <a href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_tsdf_volume.html#a572f56b7188a33899b79a31d657c4c22">更多...</a><br /></td></tr>
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<tr class="memitem:a6dcb89add51825fd927ac8ebf3f99d6f"><td class="memItemLeft" align="right" valign="top">size_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_tsdf_volume.html#a6dcb89add51825fd927ac8ebf3f99d6f">fetchSliceAsCloud</a> (<a class="el" href="classpcl_1_1gpu_1_1_device_array.html">DeviceArray</a>&lt; <a class="el" href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_tsdf_volume.html#a859e9c389e10be47ba94d785eeae975f">PointType</a> &gt; &amp;cloud_buffer_xyz, <a class="el" href="classpcl_1_1gpu_1_1_device_array.html">DeviceArray</a>&lt; float &gt; &amp;cloud_buffer_intensity, const <a class="el" href="structpcl_1_1gpu_1_1kinfu_l_s_1_1tsdf__buffer.html">tsdf_buffer</a> *buffer, int shiftX, int shiftY, int shiftZ) const</td></tr>
<tr class="memdesc:a6dcb89add51825fd927ac8ebf3f99d6f"><td class="mdescLeft">&#160;</td><td class="mdescRight">Generates cloud using GPU in connected6 mode only  <a href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_tsdf_volume.html#a6dcb89add51825fd927ac8ebf3f99d6f">更多...</a><br /></td></tr>
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<tr class="memitem:aed035aa456067980cd33d4f5d46c4dc3"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_tsdf_volume.html#aed035aa456067980cd33d4f5d46c4dc3">fetchNormals</a> (const <a class="el" href="classpcl_1_1gpu_1_1_device_array.html">DeviceArray</a>&lt; <a class="el" href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_tsdf_volume.html#a859e9c389e10be47ba94d785eeae975f">PointType</a> &gt; &amp;cloud, <a class="el" href="classpcl_1_1gpu_1_1_device_array.html">DeviceArray</a>&lt; <a class="el" href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_tsdf_volume.html#a859e9c389e10be47ba94d785eeae975f">PointType</a> &gt; &amp;normals) const</td></tr>
<tr class="memdesc:aed035aa456067980cd33d4f5d46c4dc3"><td class="mdescLeft">&#160;</td><td class="mdescRight">Computes normals as gradient of tsdf for given points  <a href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_tsdf_volume.html#aed035aa456067980cd33d4f5d46c4dc3">更多...</a><br /></td></tr>
<tr class="separator:aed035aa456067980cd33d4f5d46c4dc3"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a283e8c1208b00aec411da6f73b93f45d"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_tsdf_volume.html#a283e8c1208b00aec411da6f73b93f45d">fetchNormals</a> (const <a class="el" href="classpcl_1_1gpu_1_1_device_array.html">DeviceArray</a>&lt; <a class="el" href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_tsdf_volume.html#a859e9c389e10be47ba94d785eeae975f">PointType</a> &gt; &amp;cloud, <a class="el" href="classpcl_1_1gpu_1_1_device_array.html">DeviceArray</a>&lt; <a class="el" href="structpcl_1_1_normal.html">NormalType</a> &gt; &amp;normals) const</td></tr>
<tr class="memdesc:a283e8c1208b00aec411da6f73b93f45d"><td class="mdescLeft">&#160;</td><td class="mdescRight">Computes normals as gradient of tsdf for given points  <a href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_tsdf_volume.html#a283e8c1208b00aec411da6f73b93f45d">更多...</a><br /></td></tr>
<tr class="separator:a283e8c1208b00aec411da6f73b93f45d"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a5c03dc8e7fdb6d772e98925ed3056fff"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_tsdf_volume.html#a5c03dc8e7fdb6d772e98925ed3056fff">downloadTsdf</a> (std::vector&lt; float &gt; &amp;tsdf) const</td></tr>
<tr class="memdesc:a5c03dc8e7fdb6d772e98925ed3056fff"><td class="mdescLeft">&#160;</td><td class="mdescRight">Downloads tsdf volume from GPU memory. <br  />
  <a href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_tsdf_volume.html#a5c03dc8e7fdb6d772e98925ed3056fff">更多...</a><br /></td></tr>
<tr class="separator:a5c03dc8e7fdb6d772e98925ed3056fff"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a110d678e4928b8e576fe1671700c262d"><td class="memItemLeft" align="right" valign="top"><a id="a110d678e4928b8e576fe1671700c262d"></a>
void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_tsdf_volume.html#a110d678e4928b8e576fe1671700c262d">downloadTsdfLocal</a> () const</td></tr>
<tr class="memdesc:a110d678e4928b8e576fe1671700c262d"><td class="mdescLeft">&#160;</td><td class="mdescRight">Downloads tsdf volume from GPU memory to local CPU buffer <br /></td></tr>
<tr class="separator:a110d678e4928b8e576fe1671700c262d"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a06377b70922b6fa5aa2f7b2b83313b34"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_tsdf_volume.html#a06377b70922b6fa5aa2f7b2b83313b34">downloadTsdfAndWeights</a> (std::vector&lt; float &gt; &amp;tsdf, std::vector&lt; short &gt; &amp;weights) const</td></tr>
<tr class="memdesc:a06377b70922b6fa5aa2f7b2b83313b34"><td class="mdescLeft">&#160;</td><td class="mdescRight">Downloads TSDF volume and according voxel weights from GPU memory  <a href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_tsdf_volume.html#a06377b70922b6fa5aa2f7b2b83313b34">更多...</a><br /></td></tr>
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<tr class="memitem:ae516b7f78d3646ed1819cfa46d66d970"><td class="memItemLeft" align="right" valign="top"><a id="ae516b7f78d3646ed1819cfa46d66d970"></a>
void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_tsdf_volume.html#ae516b7f78d3646ed1819cfa46d66d970">downloadTsdfAndWeightsLocal</a> () const</td></tr>
<tr class="memdesc:ae516b7f78d3646ed1819cfa46d66d970"><td class="mdescLeft">&#160;</td><td class="mdescRight">Downloads TSDF volume and according voxel weights from GPU memory to local CPU buffers <br /></td></tr>
<tr class="separator:ae516b7f78d3646ed1819cfa46d66d970"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a09d0604eb79abcf68e49ad7296e12cbd"><td class="memItemLeft" align="right" valign="top"><a id="a09d0604eb79abcf68e49ad7296e12cbd"></a>
void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_tsdf_volume.html#a09d0604eb79abcf68e49ad7296e12cbd">releaseVolume</a> ()</td></tr>
<tr class="memdesc:a09d0604eb79abcf68e49ad7296e12cbd"><td class="mdescLeft">&#160;</td><td class="mdescRight">Releases tsdf buffer on GPU <br /></td></tr>
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<tr class="memitem:ac4fdd72d8d8f97a724121684ccbe232a"><td class="memItemLeft" align="right" valign="top"><a id="ac4fdd72d8d8f97a724121684ccbe232a"></a>
void&#160;</td><td class="memItemRight" valign="bottom"><b>print_warn</b> (const char *arg1, size_t <a class="el" href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_tsdf_volume.html#a025f883e6c30096fffa6df505acd5a86">size</a>)</td></tr>
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<tr class="memitem:a1e72e426ac70a99d71a9a447c2eed2bb"><td class="memItemLeft" align="right" valign="top"><a id="a1e72e426ac70a99d71a9a447c2eed2bb"></a>
void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_tsdf_volume.html#a1e72e426ac70a99d71a9a447c2eed2bb">setHeader</a> (const Eigen::Vector3i &amp;resolution, const Eigen::Vector3f &amp;volume_size)</td></tr>
<tr class="memdesc:a1e72e426ac70a99d71a9a447c2eed2bb"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set the header for data stored on host directly. Useful if directly writing into volume and weights <br /></td></tr>
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<tr class="memitem:a025f883e6c30096fffa6df505acd5a86"><td class="memItemLeft" align="right" valign="top"><a id="a025f883e6c30096fffa6df505acd5a86"></a>
size_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_tsdf_volume.html#a025f883e6c30096fffa6df505acd5a86">size</a> () const</td></tr>
<tr class="memdesc:a025f883e6c30096fffa6df505acd5a86"><td class="mdescLeft">&#160;</td><td class="mdescRight">Returns overall number of voxels in grid stored on host <br /></td></tr>
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<tr class="memitem:ac7993dd6f8f6e23a45ac22ba2a50be13"><td class="memItemLeft" align="right" valign="top"><a id="ac7993dd6f8f6e23a45ac22ba2a50be13"></a>
void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_tsdf_volume.html#ac7993dd6f8f6e23a45ac22ba2a50be13">convertToTsdfCloud</a> (<a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_i.html">pcl::PointXYZI</a> &gt;::Ptr &amp;cloud) const</td></tr>
<tr class="memdesc:ac7993dd6f8f6e23a45ac22ba2a50be13"><td class="mdescLeft">&#160;</td><td class="mdescRight">Converts volume stored on host to cloud of TSDF values <br /></td></tr>
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<tr class="memitem:af26eab160f60904ea2e3b4e5bca64488"><td class="memItemLeft" align="right" valign="top"><a id="af26eab160f60904ea2e3b4e5bca64488"></a>
const Eigen::Vector3i &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_tsdf_volume.html#af26eab160f60904ea2e3b4e5bca64488">gridResolution</a> () const</td></tr>
<tr class="memdesc:af26eab160f60904ea2e3b4e5bca64488"><td class="mdescLeft">&#160;</td><td class="mdescRight">Returns the voxel grid resolution <br /></td></tr>
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<tr class="memitem:af1c033de3c839aaab7f74fb4d993178c"><td class="memItemLeft" align="right" valign="top"><a id="af1c033de3c839aaab7f74fb4d993178c"></a>
bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_tsdf_volume.html#af1c033de3c839aaab7f74fb4d993178c">save</a> (const std::string &amp;filename=&quot;tsdf_volume.dat&quot;, bool binary=true) const</td></tr>
<tr class="memdesc:af1c033de3c839aaab7f74fb4d993178c"><td class="mdescLeft">&#160;</td><td class="mdescRight">Saves local volume buffer to file <br /></td></tr>
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<tr class="memitem:a64bed9e25d8ad2d3e1f3e3e57fb4b1dc"><td class="memItemLeft" align="right" valign="top"><a id="a64bed9e25d8ad2d3e1f3e3e57fb4b1dc"></a>
bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_tsdf_volume.html#a64bed9e25d8ad2d3e1f3e3e57fb4b1dc">load</a> (const std::string &amp;filename, bool binary=true)</td></tr>
<tr class="memdesc:a64bed9e25d8ad2d3e1f3e3e57fb4b1dc"><td class="mdescLeft">&#160;</td><td class="mdescRight">Loads local volume from file <br /></td></tr>
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</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pri-types"></a>
Private 类型</h2></td></tr>
<tr class="memitem:a9e0fc56830a89d94760334ee71c1d1bf"><td class="memItemLeft" align="right" valign="top"><a id="a9e0fc56830a89d94760334ee71c1d1bf"></a>
typedef boost::shared_ptr&lt; std::vector&lt; float &gt; &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>VolumePtr</b></td></tr>
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<tr class="memitem:a66ac19f36ee48f4548420e0f06be6f69"><td class="memItemLeft" align="right" valign="top"><a id="a66ac19f36ee48f4548420e0f06be6f69"></a>
typedef boost::shared_ptr&lt; std::vector&lt; short &gt; &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>WeightsPtr</b></td></tr>
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</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pri-attribs"></a>
Private 属性</h2></td></tr>
<tr class="memitem:acecede93e229bc3538ab57541ccc421a"><td class="memItemLeft" align="right" valign="top"><a id="acecede93e229bc3538ab57541ccc421a"></a>
Eigen::Vector3f&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_tsdf_volume.html#acecede93e229bc3538ab57541ccc421a">size_</a></td></tr>
<tr class="memdesc:acecede93e229bc3538ab57541ccc421a"><td class="mdescLeft">&#160;</td><td class="mdescRight">tsdf volume size in meters <br /></td></tr>
<tr class="separator:acecede93e229bc3538ab57541ccc421a"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ae1dacdada35ae6241a4873f80347eafc"><td class="memItemLeft" align="right" valign="top"><a id="ae1dacdada35ae6241a4873f80347eafc"></a>
Eigen::Vector3i&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_tsdf_volume.html#ae1dacdada35ae6241a4873f80347eafc">resolution_</a></td></tr>
<tr class="memdesc:ae1dacdada35ae6241a4873f80347eafc"><td class="mdescLeft">&#160;</td><td class="mdescRight">tsdf volume resolution <br /></td></tr>
<tr class="separator:ae1dacdada35ae6241a4873f80347eafc"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ad46eb1027eb5f5c350960b2c729be3b5"><td class="memItemLeft" align="right" valign="top"><a id="ad46eb1027eb5f5c350960b2c729be3b5"></a>
<a class="el" href="classpcl_1_1gpu_1_1_device_array2_d.html">DeviceArray2D</a>&lt; int &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_tsdf_volume.html#ad46eb1027eb5f5c350960b2c729be3b5">volume_</a></td></tr>
<tr class="memdesc:ad46eb1027eb5f5c350960b2c729be3b5"><td class="mdescLeft">&#160;</td><td class="mdescRight">tsdf volume data container <br /></td></tr>
<tr class="separator:ad46eb1027eb5f5c350960b2c729be3b5"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a6607d79e9bb1b76e50e8c2f5ab4e23f1"><td class="memItemLeft" align="right" valign="top"><a id="a6607d79e9bb1b76e50e8c2f5ab4e23f1"></a>
float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_tsdf_volume.html#a6607d79e9bb1b76e50e8c2f5ab4e23f1">tranc_dist_</a></td></tr>
<tr class="memdesc:a6607d79e9bb1b76e50e8c2f5ab4e23f1"><td class="mdescLeft">&#160;</td><td class="mdescRight">tsdf truncation distance <br /></td></tr>
<tr class="separator:a6607d79e9bb1b76e50e8c2f5ab4e23f1"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a86e2364de30597a49595fe7a3d27a47d"><td class="memItemLeft" align="right" valign="top"><a id="a86e2364de30597a49595fe7a3d27a47d"></a>
<a class="el" href="structpcl_1_1gpu_1_1kinfu_l_s_1_1_tsdf_volume_1_1_header.html">Header</a>&#160;</td><td class="memItemRight" valign="bottom"><b>header_</b></td></tr>
<tr class="separator:a86e2364de30597a49595fe7a3d27a47d"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:afbc9852a60768df3ff0a6e8b65b21390"><td class="memItemLeft" align="right" valign="top"><a id="afbc9852a60768df3ff0a6e8b65b21390"></a>
VolumePtr&#160;</td><td class="memItemRight" valign="bottom"><b>volume_host_</b></td></tr>
<tr class="separator:afbc9852a60768df3ff0a6e8b65b21390"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a1104fbf5e0107e836b4d8316adc55450"><td class="memItemLeft" align="right" valign="top"><a id="a1104fbf5e0107e836b4d8316adc55450"></a>
WeightsPtr&#160;</td><td class="memItemRight" valign="bottom"><b>weights_host_</b></td></tr>
<tr class="separator:a1104fbf5e0107e836b4d8316adc55450"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table>
<a name="details" id="details"></a><h2 class="groupheader">详细描述</h2>
<div class="textblock"><p><a class="el" href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_tsdf_volume.html" title="TsdfVolume class">TsdfVolume</a> class </p>
<dl class="section author"><dt>作者</dt><dd>Anatoly Baskeheev, Itseez Ltd, (<a href="#" onclick="location.href='mai'+'lto:'+'myn'+'am'+'e.m'+'ys'+'urn'+'am'+'e@m'+'yc'+'omp'+'an'+'y.c'+'om'; return false;">mynam<span style="display: none;">.nosp@m.</span>e.my<span style="display: none;">.nosp@m.</span>surna<span style="display: none;">.nosp@m.</span>me@m<span style="display: none;">.nosp@m.</span>ycomp<span style="display: none;">.nosp@m.</span>any.<span style="display: none;">.nosp@m.</span>com</a>) </dd></dl>
</div><h2 class="groupheader">构造及析构函数说明</h2>
<a id="aa2a91af07bc4694381b6de8676fee478"></a>
<h2 class="memtitle"><span class="permalink"><a href="#aa2a91af07bc4694381b6de8676fee478">&#9670;&nbsp;</a></span>TsdfVolume()</h2>

<div class="memitem">
<div class="memproto">
      <table class="memname">
        <tr>
          <td class="memname">pcl::gpu::kinfuLS::TsdfVolume::TsdfVolume </td>
          <td>(</td>
          <td class="paramtype">const Eigen::Vector3i &amp;&#160;</td>
          <td class="paramname"><em>resolution</em></td><td>)</td>
          <td></td>
        </tr>
      </table>
</div><div class="memdoc">

<p>Constructor </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">resolution</td><td>volume resolution </td></tr>
  </table>
  </dd>
</dl>

</div>
</div>
<h2 class="groupheader">成员函数说明</h2>
<a id="a5c03dc8e7fdb6d772e98925ed3056fff"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a5c03dc8e7fdb6d772e98925ed3056fff">&#9670;&nbsp;</a></span>downloadTsdf()</h2>

<div class="memitem">
<div class="memproto">
      <table class="memname">
        <tr>
          <td class="memname">void pcl::gpu::kinfuLS::TsdfVolume::downloadTsdf </td>
          <td>(</td>
          <td class="paramtype">std::vector&lt; float &gt; &amp;&#160;</td>
          <td class="paramname"><em>tsdf</em></td><td>)</td>
          <td> const</td>
        </tr>
      </table>
</div><div class="memdoc">

<p>Downloads tsdf volume from GPU memory. <br  />
 </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[out]</td><td class="paramname">tsdf</td><td>Array with tsdf values. if volume resolution is 512x512x512, so for voxel (x,y,z) tsdf value can be retrieved as volume[512*512*z + 512*y + x]; </td></tr>
  </table>
  </dd>
</dl>

</div>
</div>
<a id="a06377b70922b6fa5aa2f7b2b83313b34"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a06377b70922b6fa5aa2f7b2b83313b34">&#9670;&nbsp;</a></span>downloadTsdfAndWeights()</h2>

<div class="memitem">
<div class="memproto">
      <table class="memname">
        <tr>
          <td class="memname">void pcl::gpu::kinfuLS::TsdfVolume::downloadTsdfAndWeights </td>
          <td>(</td>
          <td class="paramtype">std::vector&lt; float &gt; &amp;&#160;</td>
          <td class="paramname"><em>tsdf</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">std::vector&lt; short &gt; &amp;&#160;</td>
          <td class="paramname"><em>weights</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td> const</td>
        </tr>
      </table>
</div><div class="memdoc">

<p>Downloads TSDF volume and according voxel weights from GPU memory </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[out]</td><td class="paramname">tsdf</td><td>Array with tsdf values. if volume resolution is 512x512x512, so for voxel (x,y,z) tsdf value can be retrieved as volume[512*512*z + 512*y + x]; </td></tr>
    <tr><td class="paramdir">[out]</td><td class="paramname">weights</td><td>Array with tsdf voxel weights. Same size and access index as for tsdf. A weight of 0 indicates the voxel was never used. </td></tr>
  </table>
  </dd>
</dl>

</div>
</div>
<a id="a4a1ac38b3b6819ded1c3a8e63677d240"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a4a1ac38b3b6819ded1c3a8e63677d240">&#9670;&nbsp;</a></span>fetchCloud()</h2>

<div class="memitem">
<div class="memproto">
      <table class="memname">
        <tr>
          <td class="memname"><a class="el" href="classpcl_1_1gpu_1_1_device_array.html">DeviceArray</a>&lt;<a class="el" href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_tsdf_volume.html#a859e9c389e10be47ba94d785eeae975f">PointType</a>&gt; pcl::gpu::kinfuLS::TsdfVolume::fetchCloud </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="classpcl_1_1gpu_1_1_device_array.html">DeviceArray</a>&lt; <a class="el" href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_tsdf_volume.html#a859e9c389e10be47ba94d785eeae975f">PointType</a> &gt; &amp;&#160;</td>
          <td class="paramname"><em>cloud_buffer</em></td><td>)</td>
          <td> const</td>
        </tr>
      </table>
</div><div class="memdoc">

<p>Generates cloud using GPU in connected6 mode only </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[out]</td><td class="paramname">cloud_buffer</td><td>buffer to store point cloud </td></tr>
  </table>
  </dd>
</dl>
<dl class="section return"><dt>返回</dt><dd><a class="el" href="classpcl_1_1gpu_1_1_device_array.html" title="DeviceArray class">DeviceArray</a> with disabled reference counting that points to filled part of cloud_buffer. </dd></dl>

</div>
</div>
<a id="a88a992bc7d5284b9b9532f9cad00c75f"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a88a992bc7d5284b9b9532f9cad00c75f">&#9670;&nbsp;</a></span>fetchCloudHost() <span class="overload">[1/2]</span></h2>

<div class="memitem">
<div class="memproto">
      <table class="memname">
        <tr>
          <td class="memname">void pcl::gpu::kinfuLS::TsdfVolume::fetchCloudHost </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="classpcl_1_1_point_cloud.html">PointCloud</a>&lt; <a class="el" href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_tsdf_volume.html#a859e9c389e10be47ba94d785eeae975f">PointType</a> &gt; &amp;&#160;</td>
          <td class="paramname"><em>cloud</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">bool&#160;</td>
          <td class="paramname"><em>connected26</em> = <code>false</code>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td> const</td>
        </tr>
      </table>
</div><div class="memdoc">

<p>Generates cloud using CPU (downloads volumetric representation to CPU memory) </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[out]</td><td class="paramname">cloud</td><td>output array for cloud </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">connected26</td><td>If false point cloud is extracted using 6 neighbor, otherwise 26. </td></tr>
  </table>
  </dd>
</dl>

</div>
</div>
<a id="a919b00e9381e3527a0cb50ab304d9348"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a919b00e9381e3527a0cb50ab304d9348">&#9670;&nbsp;</a></span>fetchCloudHost() <span class="overload">[2/2]</span></h2>

<div class="memitem">
<div class="memproto">
      <table class="memname">
        <tr>
          <td class="memname">void pcl::gpu::kinfuLS::TsdfVolume::fetchCloudHost </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="classpcl_1_1_point_cloud.html">PointCloud</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_i.html">PointXYZI</a> &gt; &amp;&#160;</td>
          <td class="paramname"><em>cloud</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">bool&#160;</td>
          <td class="paramname"><em>connected26</em> = <code>false</code>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td> const</td>
        </tr>
      </table>
</div><div class="memdoc">

<p>Generates cloud using CPU (downloads volumetric representation to CPU memory) </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[out]</td><td class="paramname">cloud</td><td>output array for cloud </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">connected26</td><td>If false point cloud is extracted using 6 neighbor, otherwise 26. </td></tr>
  </table>
  </dd>
</dl>

</div>
</div>
<a id="a283e8c1208b00aec411da6f73b93f45d"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a283e8c1208b00aec411da6f73b93f45d">&#9670;&nbsp;</a></span>fetchNormals() <span class="overload">[1/2]</span></h2>

<div class="memitem">
<div class="memproto">
      <table class="memname">
        <tr>
          <td class="memname">void pcl::gpu::kinfuLS::TsdfVolume::fetchNormals </td>
          <td>(</td>
          <td class="paramtype">const <a class="el" href="classpcl_1_1gpu_1_1_device_array.html">DeviceArray</a>&lt; <a class="el" href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_tsdf_volume.html#a859e9c389e10be47ba94d785eeae975f">PointType</a> &gt; &amp;&#160;</td>
          <td class="paramname"><em>cloud</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="classpcl_1_1gpu_1_1_device_array.html">DeviceArray</a>&lt; <a class="el" href="structpcl_1_1_normal.html">NormalType</a> &gt; &amp;&#160;</td>
          <td class="paramname"><em>normals</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td> const</td>
        </tr>
      </table>
</div><div class="memdoc">

<p>Computes normals as gradient of tsdf for given points </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">cloud</td><td>Points where normals are computed. </td></tr>
    <tr><td class="paramdir">[out]</td><td class="paramname">normals</td><td>array for normals </td></tr>
  </table>
  </dd>
</dl>

</div>
</div>
<a id="aed035aa456067980cd33d4f5d46c4dc3"></a>
<h2 class="memtitle"><span class="permalink"><a href="#aed035aa456067980cd33d4f5d46c4dc3">&#9670;&nbsp;</a></span>fetchNormals() <span class="overload">[2/2]</span></h2>

<div class="memitem">
<div class="memproto">
      <table class="memname">
        <tr>
          <td class="memname">void pcl::gpu::kinfuLS::TsdfVolume::fetchNormals </td>
          <td>(</td>
          <td class="paramtype">const <a class="el" href="classpcl_1_1gpu_1_1_device_array.html">DeviceArray</a>&lt; <a class="el" href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_tsdf_volume.html#a859e9c389e10be47ba94d785eeae975f">PointType</a> &gt; &amp;&#160;</td>
          <td class="paramname"><em>cloud</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="classpcl_1_1gpu_1_1_device_array.html">DeviceArray</a>&lt; <a class="el" href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_tsdf_volume.html#a859e9c389e10be47ba94d785eeae975f">PointType</a> &gt; &amp;&#160;</td>
          <td class="paramname"><em>normals</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td> const</td>
        </tr>
      </table>
</div><div class="memdoc">

<p>Computes normals as gradient of tsdf for given points </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">cloud</td><td>Points where normals are computed. </td></tr>
    <tr><td class="paramdir">[out]</td><td class="paramname">normals</td><td>array for normals </td></tr>
  </table>
  </dd>
</dl>

</div>
</div>
<a id="a6dcb89add51825fd927ac8ebf3f99d6f"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a6dcb89add51825fd927ac8ebf3f99d6f">&#9670;&nbsp;</a></span>fetchSliceAsCloud()</h2>

<div class="memitem">
<div class="memproto">
      <table class="memname">
        <tr>
          <td class="memname">size_t pcl::gpu::kinfuLS::TsdfVolume::fetchSliceAsCloud </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="classpcl_1_1gpu_1_1_device_array.html">DeviceArray</a>&lt; <a class="el" href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_tsdf_volume.html#a859e9c389e10be47ba94d785eeae975f">PointType</a> &gt; &amp;&#160;</td>
          <td class="paramname"><em>cloud_buffer_xyz</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="classpcl_1_1gpu_1_1_device_array.html">DeviceArray</a>&lt; float &gt; &amp;&#160;</td>
          <td class="paramname"><em>cloud_buffer_intensity</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const <a class="el" href="structpcl_1_1gpu_1_1kinfu_l_s_1_1tsdf__buffer.html">tsdf_buffer</a> *&#160;</td>
          <td class="paramname"><em>buffer</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">int&#160;</td>
          <td class="paramname"><em>shiftX</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">int&#160;</td>
          <td class="paramname"><em>shiftY</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">int&#160;</td>
          <td class="paramname"><em>shiftZ</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td> const</td>
        </tr>
      </table>
</div><div class="memdoc">

<p>Generates cloud using GPU in connected6 mode only </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[out]</td><td class="paramname">cloud_buffer_xyz</td><td>buffer to store point cloud </td></tr>
    <tr><td class="paramdir"></td><td class="paramname">cloud_buffer_intensity</td><td></td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">buffer</td><td>Pointer to the buffer struct that contains information about memory addresses of the tsdf volume memory block, which are used for the cyclic buffer. </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">shiftX</td><td>Offset in indices. </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">shiftY</td><td>Offset in indices. </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">shiftZ</td><td>Offset in indices. </td></tr>
  </table>
  </dd>
</dl>
<dl class="section return"><dt>返回</dt><dd><a class="el" href="classpcl_1_1gpu_1_1_device_array.html" title="DeviceArray class">DeviceArray</a> with disabled reference counting that points to filled part of cloud_buffer. </dd></dl>

</div>
</div>
<a id="a572f56b7188a33899b79a31d657c4c22"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a572f56b7188a33899b79a31d657c4c22">&#9670;&nbsp;</a></span>pushSlice()</h2>

<div class="memitem">
<div class="memproto">
      <table class="memname">
        <tr>
          <td class="memname">void pcl::gpu::kinfuLS::TsdfVolume::pushSlice </td>
          <td>(</td>
          <td class="paramtype">const <a class="el" href="classpcl_1_1_point_cloud.html">PointCloud</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_i.html">PointXYZI</a> &gt;::Ptr&#160;</td>
          <td class="paramname"><em>existing_data_cloud</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const <a class="el" href="structpcl_1_1gpu_1_1kinfu_l_s_1_1tsdf__buffer.html">tsdf_buffer</a> *&#160;</td>
          <td class="paramname"><em>buffer</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td> const</td>
        </tr>
      </table>
</div><div class="memdoc">

<p>Push a point cloud of previously scanned tsdf slice to the TSDF volume </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">existing_data_cloud</td><td>point cloud pointer to the existing data. This data will be pushed to the TSDf volume. The points with indices outside the range [0 ... VOLUME_X - 1][0 ... VOLUME_Y - 1][0 ... VOLUME_Z - 1] will not be added. </td></tr>
    <tr><td class="paramdir"></td><td class="paramname">buffer</td><td></td></tr>
  </table>
  </dd>
</dl>

</div>
</div>
<a id="a5a8d6e605ffdbcfc9228679604cab033"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a5a8d6e605ffdbcfc9228679604cab033">&#9670;&nbsp;</a></span>setSize()</h2>

<div class="memitem">
<div class="memproto">
      <table class="memname">
        <tr>
          <td class="memname">void pcl::gpu::kinfuLS::TsdfVolume::setSize </td>
          <td>(</td>
          <td class="paramtype">const Eigen::Vector3f &amp;&#160;</td>
          <td class="paramname"><em>size</em></td><td>)</td>
          <td></td>
        </tr>
      </table>
</div><div class="memdoc">

<p>Sets Tsdf volume size for each dimention </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">size</td><td>size of tsdf volume in meters </td></tr>
  </table>
  </dd>
</dl>

</div>
</div>
<a id="ab837c09a09bab3ecb69da7c2acb0d481"></a>
<h2 class="memtitle"><span class="permalink"><a href="#ab837c09a09bab3ecb69da7c2acb0d481">&#9670;&nbsp;</a></span>setTsdfTruncDist()</h2>

<div class="memitem">
<div class="memproto">
      <table class="memname">
        <tr>
          <td class="memname">void pcl::gpu::kinfuLS::TsdfVolume::setTsdfTruncDist </td>
          <td>(</td>
          <td class="paramtype">float&#160;</td>
          <td class="paramname"><em>distance</em></td><td>)</td>
          <td></td>
        </tr>
      </table>
</div><div class="memdoc">

<p>Sets Tsdf truncation distance. Must be greater than 2 * volume_voxel_size </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">distance</td><td>TSDF truncation distance </td></tr>
  </table>
  </dd>
</dl>

</div>
</div>
<hr/>该类的文档由以下文件生成:<ul>
<li>gpu/kinfu_large_scale/include/pcl/gpu/kinfu_large_scale/<a class="el" href="large__scale_2include_2pcl_2gpu_2kinfu__large__scale_2tsdf__volume_8h_source.html">tsdf_volume.h</a></li>
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